Diff: DRV2605.h

Revision:

0:3b2b4f34aaca

Child:

1:224404f39d98

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV2605.h	Wed Oct 21 01:02:59 2015 +0000
@@ -0,0 +1,199 @@
+/*
+    Bryce Williams 10/16/2015
+    
+    Library for the TI DRV2605L 2 to 5.2 V Haptic Driver for LRA and ERM
+    With Effect Library and Smart-Loop Architecture
+     
+    References:
+    http://www.ti.com/product/DRV2605L/description&lpos=Middle_Container&lid=Alternative_Devices
+    http://www.ti.com/lit/ds/symlink/drv2605l.pdf (Datasheet) 
+    http://www.ti.com/lit/an/sloa189/sloa189.pdf (Setup Guide; SLOA189)
+*/
+
+#ifndef DRV2605_H
+#define DRV2605_H
+
+#include "mbed.h"
+
+/******************************************************************************
+***** DRV2605 Addresses
+******************************************************************************/
+#define SLAVE_ADDR_7_BIT 0x5A // 7-bit slave address 
+
+/******************************************************************************
+****** DRV2605 REGISTERS ******************************************************
+******************************************************************************/
+#define STATUS                               0x00
+#define MODE                                 0x01
+#define REAL_TIME_PLAYBACK                   0x02
+#define LIBRARY_SELECTION                    0x03
+#define WAVEFORM_SEQUENCER_1                 0x04
+#define WAVEFORM_SEQUENCER_2                 0x05
+#define WAVEFORM_SEQUENCER_3                 0x06
+#define WAVEFORM_SEQUENCER_4                 0x07
+#define WAVEFORM_SEQUENCER_5                 0x08
+#define WAVEFORM_SEQUENCER_6                 0x09
+#define WAVEFORM_SEQUENCER_7                 0x0A
+#define WAVEFORM_SEQUENCER_8                 0x0B
+#define GO                                   0x0C
+#define OVERDRIVE_TIME_OFFSET                0x0D
+#define POSITIVE_SUSTAIN_TIME_OFFSET         0x0E
+#define NEGATIVE_SUSTAIN_TIME_OFFSET         0x0F
+#define BRAKE_TIME_OFFSET                    0x10
+#define AUDIO_TO_VIBE_CONTROL                0x11
+#define AUDIO_TO_VIBE_MINIMUM_INPUT_LEVEL    0x12
+#define AUDIO_TO_VIBE_MAXIMUM_INPUT_LEVEL    0x13
+#define AUDIO_TO_VIBE_MINIMUM_OUPUT_DRIVE    0x14
+#define AUDIO_TO_VIBE_MAXIMUM_OUTPUT_DRIVE   0x15
+#define RATED_VOLTAGE                        0x16
+#define OVERDRIVE_CLAMP_VOLTAGE              0x17
+#define AUTO_CALIBRATION_COMPENSATION_RESULT 0x18
+#define AUTO_CALIBRATION_BACK_EMF_RESULT     0x19
+#define FEEDBACK_CONTROL                     0x1A
+#define CONTROL                              0x1B
+#define CONTROL2                             0x1C
+#define CONTROL3                             0x1D
+#define CONTROL4                             0x1E
+#define CONTROL5                             0x1F
+#define LRA_OPEN_LOOP_PERIOD                 0x20
+#define VBAT_VOLTAGE_MONITOR                 0x21
+#define LRA_RESONANCE_PERIOD                 0x22
+
+class DRV2605{
+    
+    public:
+        //// modes defines the possible modes of the DRV2605L
+        enum Mode{
+            INTERNAL_TRIG,   // 0x00: Waveforms fired by Setting GO bit in Register 0x0C
+            EXTERNAL_EDGE,   // 0x01: Rising Edge on IN/TRIG pin set GO Bit.
+            EXTERNAL_LEVEL,  // 0x02: GO bit follows state of edge on IN/TRIG pin. 
+            PWM_ANALOG,      // 0x03: PWM or Analog Signal accepted at IN/TRIG pin.
+            AUDIO_TO_VIBE,   // 0x04: An AC-coupled audio signal is accepted at the IN/TRIG pin.
+            RTP,             // 0x05: Real- Time Playback
+            DIAG,            // 0x06: Set to perform actuator diagnostics
+            AUTO_CAL,        // 0x07: Set to perform auto calibration of device for actuator 
+            STANDBY = 0x40,  // 0x40: Set Device to Software Standby (Low- Power Mode)
+            RESET = 0x80,    // 0x80: Reset Device (equivalent of power cycling the device)
+         };
+         
+         //// FeedBack_Controls Fields Bitmasks (Register Addr: 0x1A)
+         enum Actuator_Type{ERM = 0, LRA = 0x80}; // bit-7
+         enum Brake_Factor{x1 = 0x00, x2 = 0x10, x3 = 0x20, 
+                           x4 = 0x40, x6 = 0x80, x8 = 0x50, 
+                           x16 = 0x60, DISABLE = 0x70}; // bit-6..4
+         enum Loop_Gain{LOW = 0x00, 
+                        MED = 0x04, 
+                        HIGH = 0x08, 
+                        VERY_HIGH = 0x0C};  // bit-3..2
+                    
+         enum Library{EMPTY, A, B, C, D, E,
+                      LRA_LIB, F};              // ROM Waveform Library Selections
+        
+        /**
+            Constructor for DRV2605 Objects
+        */
+        DRV2605(PinName sda, PinName scl);
+        
+        /**
+            Write value to specified register of device
+            @param reg      The device register to write 
+            @param value    The value to write to the register
+        */
+        void i2cWriteByte(char reg, char value);
+        
+        /**
+            Read value from register of device
+            @param reg  The device register to read
+            @return     The result
+        */
+        uint8_t i2cReadByte(char reg);
+        
+        /**
+            Place device into specified mode
+            @param mode     The mode to place device into
+        */
+        void mode(Mode mode);
+        
+        /**
+            TODO: Expand to allow initialization for LRAs and Closed Loop operation 
+            Initialize the device for Open- Loop ERM mode using specified ROM 
+            Waveform Library as specified in Section 9.3 of Device Datasheet.
+            See also Device Setup Guide 1.6.1 ERM Initialization Example
+            @param actuator_peak_voltage    The Peak Voltage Rating of Actuator
+            @param lib  The ROM Waveform Library to use
+        */
+        int init(float actuator_peak_voltage, Library lib = B);
+        
+        /**
+            Runs diagnostics on the Actuator and Device and returns the results. 
+            The results indicate if an actuator is detected, over- current events, 
+            etc. Refer to STATUS Register (0x00) in device datasheet for more 
+            description register values.
+            
+            Note: This should be run if the user is having trouble getting the actuator 
+            to work.
+            
+            @return The results of the diagnostics (i.e. Status Reg (0x00))
+        */
+        uint8_t diagnostics();
+        
+        /**
+            Play single waveform from ROM Library as outlined in Section 9.3.2.1
+            of Device Datasheet.
+            The library used is the one that is currently written 
+            to the Library_Selection Register (0x03). This library
+            is set in the init(Library lib) method, but can be 
+            changed manually.
+            @param waveform_effect  The Waveform Effect Library Index value to play
+                                    (valid values are 1 to 123)
+        */
+        void play_waveform(int waveform_effect);
+        
+        /**
+            Load Wave Sequence into DRV2605 Sequence Registers
+            @param effect1... effect8   The effect to play. Valid inputs are 
+                                        0 to 123; 0: Stop Condition, 
+                                                  1- 123: Waveform Index
+        */
+        void load_waveform_sequence(int effect1 = 0, int effect2 = 0, 
+                                    int effect3 = 0, int effect4 = 0,
+                                    int effect5 = 0, int effect6 = 0, 
+                                    int effect7 = 0, int effect8 = 0);
+        
+        /**
+            Plays the currently loaded waveform or waveform sequence. 
+            Call this after calling play_waveform() or after calling 
+            load_waveform_sequence()
+            Preconditions: User must have already loaded waveform(s) 
+                           using play_waveform() or load_waveform_sequence()
+        */
+        void play();
+        
+        /**
+            TODO: Add Closed Loop Calibration
+            
+            Run basic DRV2605L Auto- Calibration as detailed in Section 2 of 
+            the Device Setup Guide for OPEN- LOOP ONLY.
+            This must be done before using the device in closed- loop mode 
+            (unless cal has been done before with values stored in non-volatile
+             mem; see datasheet for more info). 
+                
+            NOTE: It is NOT recommended to store cal values into device 
+            non-volatile memory as this can be done only once. Thus do not 
+            use this feature unless the device is being used in a final 
+            project AND values have been confirmed to result in satisfactory 
+            performance).
+                
+            This uses many of the default device register values such as
+            the default DRIVE_TIME .
+
+            @param actuator_peak_voltage The maximum/peak voltage rating of the actuator
+        */
+        uint8_t auto_cal_open_loop(float actuator_peak_voltage);        
+          
+    private:
+    I2C i2c;
+    
+};
+
+#endif
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